This should work:
unsigned char reverse(unsigned char b) {
b = (b & 0xF0) >> 4 | (b & 0x0F) << 4;
b = (b & 0xCC) >> 2 | (b & 0x33) << 2;
b = (b & 0xAA) >> 1 | (b & 0x55) << 1;
return b;
}
First the left four bits are swapped with the right four bits. Then all adjacent pairs are swapped and then all adjacent single bits. This results in a reversed order.